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Real-Time HALCON-Based Pose Measurement System for an Astronaut Assistant Robot

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Intelligent Robotics and Applications (ICIRA 2018)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10984))

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Abstract

The manned space program in China has entered the space station stage. Space astronauts normally have very limited time for certain tasks, so in order to free space astronauts from some repetitive routine tasks, various robots in space appear. Free-flying robots in space can also provide conditions for various scientific experiments with their unique microgravity advantages. The measurement of their positions and attitudes is the premise of their autonomous flight and remote operations. So, the pose measurements system of the Astronaut Assistant Robot is designed in this paper. With the camera calibrated, the image is acquired and processed in real time, and the robot is tracked in real time. In the end poses are estimated by virtue of PnP algorithm. The pose measurements system is modeled and simulated, with an automatic global threshold method to improve the reliability of the system. In addition, a series of measures are adopted to improve its efficiency with a satisfactory accuracy. The experimental results show that the measurement system meets the requirements of both effectiveness and efficiency.

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Acknowledgment

The authors would like to acknowledge the support from the National Science Foundation of China under Grant No. 51775541, 51575412, 51575338 and 51575407, and the State Key Laboratory of Robotics Foundation under Grant No. Y5M3180301, Y5M3190301, and Y7M3250301, the EU Seventh Framework Programme (FP7)-ICT under Grant No. 611391, and the Research Project of State Key Lab of Digital Manufacturing Equipment & Technology of China under Grant No. DMETKF2017003.

Author information

Authors and Affiliations

  1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China

    Lihong Dai, Jinguo Liu, Zhaojie Ju & Yuwang Liu

  2. School of Electronic and Information Engineering, University of Science and Technology Liaoning, Anshan, 114051, China

    Lihong Dai

  3. University of the Chinese Academy of Sciences, Beijing, 100049, China

    Lihong Dai

  4. Intelligent Systems and Biomedical Robotics, School of Creative Technologies, University of Portsmouth, Portsmouth, UK

    Zhaojie Ju

Authors
  1. Lihong Dai
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  2. Jinguo Liu
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  3. Zhaojie Ju
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  4. Yuwang Liu
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Corresponding author

Correspondence to Jinguo Liu .

Editor information

Editors and Affiliations

  1. University of Newcastle, Callaghan, New South Wales, Australia

    Zhiyong Chen

  2. University of Newcastle, Callaghan, New South Wales, Australia

    Alexandre Mendes

  3. University of Newcastle, Callaghan, New South Wales, Australia

    Yamin Yan

  4. Shenzhen Institutes of Advanced Technology, Shenzhen, China

    Shifeng Chen

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Dai, L., Liu, J., Ju, Z., Liu, Y. (2018). Real-Time HALCON-Based Pose Measurement System for an Astronaut Assistant Robot. In: Chen, Z., Mendes, A., Yan, Y., Chen, S. (eds) Intelligent Robotics and Applications. ICIRA 2018. Lecture Notes in Computer Science(), vol 10984. Springer, Cham. https://doi.org/10.1007/978-3-319-97586-3_33

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  • DOI: https://doi.org/10.1007/978-3-319-97586-3_33

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-97585-6

  • Online ISBN: 978-3-319-97586-3

  • eBook Packages: Computer ScienceComputer Science (R0)

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